Archimedes spiral wobble control

ABSTRACT

A control system for a pouring reel to allow a product to be deposited in the reel in continuous layers, each layer forming an Archimedes spiral. The control system produces a reel speed reference signal by dividing a signal proportional to the linear speed of the product by a signal proportional to the desired coil convolute radius of the product in the reel to obtain the desired result.

United States Patent [191 Johnson [11] 3,822,045 [4 1 July2, 1974ARCHIMEDES SPIRAL WOBBLE CONTROL [75] Inventor: Thomas D. Johnson,Roanoke, Va.

[73] Assignee: General Electric Company, Salem,

221 Filed: June 30, 1972 211 App]. No: 268,086

[52] US. Cl. 242/83 [51] Int. Cl. B2lc 47/28, 1365b 75/02 [58] Field ofSearch 242/83, 82; 28/21; 19/159;

[56] References Cited UNITED STATES PATENTS 3,270,978 9/1966 Whitacre242/82 3,337,154 8/1967 Smith at 211.. 242/83 5/1969 Cole et all 242/835/1972 Fullers et a1. 242/82 X Primary Examiner-John W. Huc'kertAssistant Examiner-John M. Jillions Attorney, Agent, or Firm-Amold E.Renner; Harold H. Green, Jr.

[5 7] ABSTRACT result.

7 Claims, 9 Drawing Figures PMENTKEWIJIL SHEET 6? 6 IST LAYER 3RD LAYERPRODUCT SPEED I00 230 U W REEL SPEED REFERENCE 3 4OO RADIUS DETECTORGENERATOR RATE LIFIIT REFERENCE TORQUE PROGRAM 00 800 600 7 2 v I ASPEED TORQUE k REEL Q REGULATOR REGULATOR looo REEL

PATENVEML 2 mm SHEET 3 BF 6 mON ARCI-IIMEDES SPIRAL, WOBBLE CONTROLBACKGROUND OF THE INVENTION This invention relates to a control systemfor a pouring reel which accepts amoving product such as that utilizedin rod, bar and merchant mills and the invention is also applicable tolaying heads or laying cones for wire and rod mills.

In the manufacturing of rods, bars and the like for the purpose ofstorage and shipment, individual billets are rolled into one continuousstrand which is accumulated as a coil or coils in a tub or reel.

It is well known in the art that denser depositing or pouring of theproduct in the tub or reel can be accomplished by having the productdeposited in the reel in a continuous Archimedes spiral with the spiraldirection reversed on alternate layers.

The mechanical forces causing the product to bend in the reel to anoptimum radius at any'instant are rela tively small; therefore,relatively small disturbing forces will cause undesirable radii to beformed.

Prior art attempts to achieve the formation of a coil approximating anArchimedes spiral with the spiral direction reversed on alternate layersusually utilized a control system which caused the reel to wobble orvary 7 in a manner to effect a desired pouring pattern. However, thereel was caused to wobble as a function of the reel speed. Newdisturbances were introduced into the control system through the use ofreel gears and tachometer eccentricities. I

A further problem involved in the prior art generally caused by thetorque rate capacity of a driving motor being finite was realized wheneach layer forming the coil in the reel required a sprial directionreversal.

The foregoing problems have been substantiallyeliminated by providing ina preferred embodiment of my invention a control system which produces areel speed reference signal to control the angular motion of the reel.The reel speed reference signal, in accordance with this invention, isproduced by dividing a signal proportional to the linear speed of themoving product by a signal proportional to the desired instantaneouscoil convolute radius of the product in the reel. The above problemshave further been minimized by incorporating in my preferred embodimentsubsystems for continuously calculating the desired coil convoluteradius of the product and for continuously calculating the desired reeltorque by taking into consideration the changing inertia of the reel asthe size of the coil in the reel increases.

SUMMARY OF THE INVENTION It is an object of this invention to provide anew and improved control system which will result in the denser pouringof a product into a reel.

It is another object of this invention to provide a new and improvedcontrol system for a pouring reel which will provide a fast transientresponse by programming the desired reel torque into the control system.

It isanother object of this invention to provide a new and improvedcontrol system which will provide a smoother and more accurateArchimedes spiral pattern of a'product to be deposited in a reel and tominimize disturbances and produce more evenly spaced convolutes of suchspiral.

, his a still furtherobject to provide a new and imreel in which a reelspeed reference signal controls the reel angular motion. The reel speedreference signal is derived from the division of a signal proportionalto the linear speed of the product by a signal proportional to thedesired coil convolute radius of the product being deposited in thereel.

BRIEF DESCRIPTION OF THE DRAWINGS The invention, both as to itsorganization and principle of operation together with further objectsand advantages thereof may better be understood by reference to thefollowing detailed description of an embodiment of the invention whentaken in conjunction with the accompanying drawings in which:

FIG. 1 is a top view of a product being poured into a reel to'form anArchimedes spiral in accordance with this invention.

FIG. 2 is a side view of a product being poured into a reel with a crosssection of the reel and associated driving mechanisms in accordance withthis invention.

FIG. 3 is a graphical representation of the product deposited in a reelto forma continuous coil in three distinct layers, each layerapproximating an Archimedes spiral with the spiral direction reversed inaccordance with this invention.

FIG. 4 is a simplified block diagram of acontrol system for areel inaccordance with this invention.

FIGS. 5a through 5d taken together as shown in FIG. 5e constitute asimplified diagram of a control system a of FIG. 4 but in greater detailin accordance with this invention.

DESCRIPTION OF THE PREFERRED EMBODIMENT For simplification, thepreferred embodiment of my invention will be in the environment of apouring reel receiving a moving product, such as a bar, in a continuousmulti-layer Archimedes sprial.

Referring to FIG. 1, a bar or product 11 is delivered from a finishingstand 12 through a guide 13 into tub or reel 14 in the directionindicated by arrow 15 and rotates with the reel 14 in a direction, asindicated by arrow 16. As is well known in the: art, pins 17 are affixedinside reel 14 to provide an inner or minimum radius for the formationof an Archimedes spiral in reel 14.

In FIG. 2, product 11 is shown traveling in the direction of arrow 15from finishing stand 12 through guide 13 into reel 14 to form theArchimedes spiral. The reel 14 comprises acoil plate 18, side wall 19defining a maximum or outer radius, base plate 20, and pins 17 mountedon a vertical shaft 21 which rides in a fixed bearing 22. The reel 14 isdriven in the direction indicated by arrows 16 in FIG. 1 about avertical axis by driving means shown as DC motor 24, through pinion 25and gear 26. a

FIG. 3 illustrates the product 11 in the denser coil pattern, that is,the deposition of the product in the reel in layers forming Archimedessprials, with the spiral direction of alternate layers reversed. Thepattern in FIG. 3 has three layers formed from a continuous product 11,and each layer is shown to be serially connected for clarity ofillustration. The Archimedes spiral pattern is mathematically expressedas follows:

First layer, r r a 6 From r, to n.

Second layer, r r, a 0 From r, to r,,.

Third Layer, r r, a 0 From r to r,.

where:

r radius of product convolute, in feet.

a Archimedes spiral constant, in feet per radian.

0 angular displacement since initiation of the layer,

in radians.

r inner or minimum radius, in feet.

r,,= outer or maximum radius, in feet.

FIG. 4 in block diagram illustrates a transducer 100, which ispositioned proximate to the finishing stand 12 (shown in FIG. I), whichproduces a first signal or voltage, proportional to the linear speedrepresented as ds/dt of a product leaving the finishing stand.

In order to develop a reel speed reference signal,

which will be used as a first input to a radius generator 300, ratelimit reference 900, torque program 500 and speed regulator 600, reelspeed reference means 200 is provided. Reel speed reference means 200receives the first signal at a first input and a second signalproportional to the desired coil convolute radius r at its second input.The reel speed reference means 200 produces the reel speed referencesignal at its output by dividing the first signal by the second signalthereby producing the reel speed reference signal represented as d0/dtwhich is equal to l/r)(ds/dt). The above equation, equal to the reelspeed reference signal, is derived by the differentiation of the basicArchimedes spiral equation, r= a 0, taken for an arc segment in a mannerwell known in the art. 7 A radius generator 300 is provided in order toproduce at its output the second signal proportional to the desired coilconvolute radius which, as previously mentioned, is connected to thesecond input of the reel speed reference means 200. Theoutput of theradius generator is further connected to a detector 400 which detectsthe inner and outer radii limits and reverses the direction of radiuschange each time the inner and outer radii limits respectively arereached.

A torque program 500 is provided which produces a torque signal T to afirst input of a torque regulator 700 which in turn regulates the torqueon reel 800. The signal T which is proportional to the reel torquerequired to overcome inertia, is produced by multiplying a signal J,proportional to the inertia of the reel by the derivative of the reelspeed reference signal, or T J (JO/dl). The torque program 500 isconnected at a second input from a sensing device 1000, which provides areel speed signal proportional to the actual reel speed. 1-,-

In order to provide an error signal to the second input of the torqueregulator 700, which will modify the torque as required to maintainaccurate speed, a speed regulator 600 is provided. The speed regulator600 determines the error signal by comparing the reel speed referencesignal at its first input'with the reel speed signal from sensing device1000 at its second input.

The rate limit reference 900 which limits the second derivative of thedesired coil convolute radius with respect to time to produce smooth andoptimum response for reversal of the spiral constant is connected as asecond input to radius generator 300 and is further connected as a thirdinput to torque regulator 700 to limit the torque rate.

Therefore, torque regulator 700 regulates the torque on reel 800 inaccordance with torque program 500, speed regulator 600 and rate limitreference 900.

Refer now to FIGS. 5a through 5d, in which, for convenience, the blocksof FIG. 4 are understood to be represented by dashed blocks. In FIG. 5atransducer includes a tachometer 101 which is utilized to produce thefirst signal representative of the linear speed of the product. Theoutput of tachometer 101 is serially connected to an input of amplifier104 through inductor 102 and resistor 106. At a point between inductor102 and resistor 106, a bypass capacitor 103 is connected to ground.Amplifier 104 has a parallel combination of resistor 105 and capacitor107 connected between the input and output thereof. The output ofamplifier 104 is connected to ground through a combination seriesrheostat resistor 108, the tap of the rheostat resistor 108 is seriallyconnected to a point A through a normally open contact 109 and resistor112. Point A is also connected to ground through the parallelcombination of reverse diodes 115, and to an output of amplifier 110through resistor 111. Point A is further connected to an input ofamplifier 110 through a resistor 114. A capacitor 113 is connectedbetween the input and output of amplifier 110. At the output ofamplifier 110 is thefirst signal proportional to the linear speed of theproduct.

The output of amplifier 110 is connected as the first input to the reelspeed reference means 200. The output of amplifier 110 is connected to apoint B at the input of amplifier 201 with filter capacitor 204connected between the input and output thereof, through input resistor202. Point B is further connected as an input to amplifier 201 from ananalog multiplier 205 through feedback resistor 203 to provide thesecond signal proportional to the desired coil convolute radius. Theoutput of amplifier 201 is connected to a first input of analogmultiplier 205, a first end of resistor 304 normally open contact 302,(FIG. 5b), resistor 902, capacitor 502, resistor 517, and resistor 603(FIG. 50). A second input of analog multiplier 205 is connected to theoutput of amplifier 319. Amplifier 201 and multiplier 205 divide thefirst signal by the second signal and result in the reel speed referencesignal.

In radius generator 300 (FIG. 5b) which receives the reel speedreference signal at the first end of resistor 304, a second end ofresistor 304 is connected to an input of amplifier 303. A resistor 305is connected between the input and output thereof. The output ofamplifier 303 is connected through a normally open contact 306 to agrounded rheostat 301. This output is also connected to a second end ofnormally open contact 302. Rheostat 301 sets the Archimedes spiralconstant on the desired coil convolute spacing to be utilized indetermining the desired coil convolute radius rate. Rheostat 301 isfurther connected to resistor 308 which in turn is connected throughresistor 311 to the input of amplifier 307. Amplifier 307 has acapacitor 310 connected thereacross. Resistor 308 is further connectedto the anode of diode 312 and the cathode of diode 313 and throughresistor 309 to the output of amplifier 307.

The output of amplifier 307 is seriallyconnected to the input ofamplifier3l5 through'resistor 317 with the parallel combination ofnormally closed contact 314 and capacitor 316 between the input andoutput thereof. The output of amplifier 315 is serially connected torelay 404 through resistor 401, diode 402, and amplifier 403, the latterfour elements forming a part of the detector 400. The output ofamplifier 315 is further connected through resistor 321 to the input ofamplifier 319 with resistor 320 connected between the input and outputthereof. The top of combination rheostat resistor 318 is connected tothe input of amplifier 319 through resistor 322. The rheostat section ofrheostat resistor 318 is connected to a negative DC voltage, and theresistor section is connected to ground. Rheostat resistor 318 isutilized to set the initial or maximum radius, and amplifier 319 sumsthis initial radius with the-radius change signal from amplifier 315 toprovide the second signal r for amplifier 201.

The output of amplifier 319 is further connected to a point C throughresistor 405 of the detector 400.

Point C is serially connected to a series combination rheostat resistor410m detector 400 (which monitors the radius signal) through a biasresistor 409 and to relay 408 through diode 406 and amplifier 407. Therheostat section of rheostat resistor 410 is connected to a negative DCvoltage while the resistor section is connected to ground.

The rate limit reference 900 (FIG. So) which limits the rate of changeof the radius rate receives the reel speed reference signal at a firstend of resistor 902 and has the second end of resistor 902 connected atpoint D to a negative DC voltage through resistor 901 and to a positiveDC voltage through the series connection of resistor 904 and resistor910. Point D is further connected to the input of amplifier 903; theoutput of amplifier 903 is connected to a point between resistor 904 and910 through diodes 908 and 909. The output of amplifier 903 is furtherconnected to the cathode of diode 312 (FIG. 5b) and then connected topoint E through diode 726 (FIG. 5d) and is still further connectedthrough resistor 906 to the input of amplifier 905 having a resistor 907connected between the input and output thereof, and then seriallyconnected to the anode of diode 313 and through diode 727 to point E.

The second end of capacitor 502 in torque program 500 is connected to afirst input of analog multiplier 521 through the series circuit ofresistor 504 connected to the input of amplifier 501, amplifier 501having resistor 503 connected between its input and output. The outputof analog multiplier 521 is applied at point F through resistor 702.

The second end of resistor 517 is connected to the input of amplifier515 with the parallel combination of resistor 516 and diode 519connected between the output and input thereof. The output ofamplifier515 is serially connected through normally open contact 505 andresistor 520 to the input of amplifier 506. Amplifier 506 has theparallel combination of a capacitor 507 and a normally closed switch 522with a series connected resistor 508 connected between the input andoutput thereof. Diode 511 is connected to the input of amplifier 506 andis also connected to a negative DC voltage through resistor 510 and tothe output of amplifier 506 through resistor 509. The output ofamplifier 506 is applied as a second input to analog multiplier A reeltachometer 512, which produces a reel speed signal, has its outputserially connected through inductor 513 and resistor 604 of speedregulator 600 to an input of amplifier 601 with resistor 602 connectedbetween the input and output thereof. Capacitor 514 is connected toground at a point between inductor 513 and resistor 604. Also a pointbetween inductor 513 and resistor 604 is connected to the input ofamplifier 515 through resistor 518. The input of amplifier 601 is alsoconnected to the second end of resistor 603. The output of amplifier 601is connected through series resistor 703 to point F.

Point F in torque regulation 700 (FIG. Ed) is further connected to theinput of amplifier 701. It is also connected to ground through resistor704, capacitor 709, and resistor 710. The output of amplifier 701 isconnected through resistor 705 to the connection between resistor 704and capacitor 709. The output of amplifier 701 is also connected throughresistor 707 to the input of amplifier 706 with resistor 708 connectedbetween the output and input thereof. The: output of amplifier 706 isconnected through resistor 711 to point E.

Point E is connected through resistor 713 to a current feedback signalterminal 712 to DC motor static armature supply 723 and is furtherserially connected to a firing angle reference signal terminal 730 of DCarmature supply 723 through resistor 715 and amplifier 718. The currentfeedback signal terminal 712 is further connected to the input ofamplifier 718 through the serially connected capacitor 716 and resistor717. Connected between the input and output of amplifier 718 is theseries circuit of resistor 722, capaictor 720 and capacitor 719. Thepoint between capacitor 720 and capacitor 719 is connected to groundthrough a resistor 721.

Reel motor 724 with its associated shunt field exciter 731 is connectedacross DC armature supply 723 with normally open contactor 725 connectedin series at one end of reel motor 724.

l in operation, tachometer 101 is geared to a motor which drives thefinishing stand to produce a signal which is filtered by inductor 102and capaictor 103 and amplified by amplifier 104 with further filteringby capacitor 107. The bridge 108 is adjusted in proportion to the rolldiameter of the finishing stand to produce a signal proportional to thelinear speed of the product 11. When contact 109 is closed, the signalis amplified by amplifier 110 with the rate of change of amplifier 110limited by capacitor 113, resistor 114 and diodes 115. The output ofamplifier 110 is a first signal proportional to the linear speed of theproduct or ds/dt.

This first signal is amplified by amplifier 201 and filtered bycapacitor 204. A feedback voltage from amplifier 201 is multiplied inanalog multiplier 205 by a second signal proportional to the desiredcoil convolute radius or r, thereby making the gain of amplifier 201inversely proportional to the desired coil convolute radius. Thus, theoutput of amplifier 201 is its input or first signal ds/dt divided bythe desired coil convolute radius or second signal, this equals the reelspeed reference signal dl9/dt. Mathematically, this is expressed asd0/dt l/r)(ds/dt).

Differentiation of the basic Archimedes spiral equation, r= a 6,produces the equation dr/dt a (dB/dz) which is the desired coilconvolute radius rate. A radius rate signal dr/dt is obtained bymultiplying the reel speed reference signal dO/dt by the Archimedesspiral constant a, or by the desired coil convolute spacing as set bythe rheostat 301.

For decreasing radius, the reel speed reference signal is applied torheostat 301 through contact 302. For increasing radius, the referencepolarity is reversed by amplifier 303, and the reel speed referencesignal is applied to rheostat 301 through contact 306. The radius signalrate dr/dt is amplified by amplifier 307 with its rate of change limitedby capacitor 310, resistor 311, diodes 312 and 313 and a voltage fromthe rate limit reference 900. This limits the rate of change of radiusrate or the second derivative of radius d rldt The purpose of thislimit, which is controlled by the reel speed reference signal, is toproduce smooth reversal of the spiral constant at the maximum ratepermitted by the machine torque rate capacity. In a practicalarrangement, the machine torque rate capacity exceeds the torque raterequired for generating a spiral layer, therefore, the limit on a' r/dtdoes not have an effect except during reversal of the spiral constant.

When the reel speed is being wobbled or varied, contact 314 is open. Aradius change signal dr is produced by integrating the radius ratesignal dr/dt with respect to time by amplifier 315.

The initial radius is preset by rheostat resistor 318 and the totalradius signal or second signal r proportional to the desired coilconvolute radius is produced by summing in amplifier 319 the initialpreset radius with the radius change signal. This second signal then isapplied to the analog multiplier 205 to produce the reel speed referencesignal as previously described.

In detector 400, the radius change signal dr is monitored by resistor401, diode 402, amplifier 403, and relay 404 so that the outer radius r,is sensed, and relay 404 is energized when the radius is equal to orgreater than the initial radius or value set by rheostat resistor 318.The second signal r" is monitored by resistor 405, diode 406, amplifier407, and relay 408 with a bias for resistor 409 in rheostat resistor 410so that the inner radius is sensed, and relay 408 is energized when theradius is equal to or less than the value set by rheostat resistor 410.

Referring to torque program 500, which basically produces a signalproportional to desired reel torque by multiplying a signal, eitherfixed or variable, proportional to the reel inertia by the secondderivative of the desired angular displacement of the reel with respectto time. The derivative of the reel speed reference signal or 11 6/11?is provided by differentiating the reel speed reference signal withrespect to time by amplifier 501 with capacitor 502 and resistor 503 and504. When the product is not being delivered to the reel, contact 522 isclosed, and contact 505 is opened; and amplifier 506 will produce asignal proportional to the empty reel inertia as determined by capacitor507, resistors 508, 509, 510 and diode 511. When the product is sensed,contact 522 opens and the reel inertia signal is stored by capacitor507.

The reel speed signal from tachometer 512 is filtered by inductor 13 andcapacitor 514 and summed with the reel speed reference signal byamplifier 515 with resistors 516, 517, and 518 so that amplifier 5.15produces a voltage proportional to the speed error except that theoutput will only be produced if the'speed is lower than the referencebecause of diode 519. When varying the reel speed, contact 505 willclose a time delay after each time contact 302 is closed, and it willremain closed until contact 302 is open. v

As coil size increases, the reel inertia increases, thus tending tocause the reel speed signal to be lower than the reel speed referencesignal while the reel is accelerating until the inertia signal J isincreased in proportion to the increase in inertia. This occurs whencontact 505 is closed, and amplifier 515 transmits a current toamplifier 506 through resistor 520 thus causing inertia signal J toincrease. Analog multiplier 521 multiplies the derivative of the reelspeed reference signal or a' l/dt by inertia signal J to produce thetorque program T== J (d i9/dt The filtered output of the reel tachometer512 is summed with the reel speed reference signal by amplifier 601 toproduce a speed error signal. This speed error signal modifies thetorque program to reduce low frequency and steady state errors resultingfrom friction and changes in circuit parameters. This results in thenecessary speed accuracy with a slow enough response to produce thenecessary insensitivity to undesirable disturbances from the tachometerand to permit proper operation of the inertia compensation amplifier 506as previously described.

The torque program signal is summed with the speed error signal byamplifier 701 and is further amplified by amplifier 706. Capacitor 709provides a faster response, and resistor 710 provides reducedsensitivity to noise at high frequencies.

Since the reel is driven by a DC motor with a fixed shunt field and insuch a machine the torque is proportional to the armature current, thenthe output of amplifier 706 constitutes a motor current referencesignal. The motor current reference signal is applied through resistor711 and is summed with a current feedback signal from terminal 712through resistor 713 to produce a current rate reference signal at pointE. The current rate reference signal applied through resistor 715 issummed with the current rate feedback signal at the input to amplifier718. Amplifier 718 provides a firing angle reference signal at terminal730 for the static armature supply 723 which in turn provides thearmature voltage for reel motor 724 when contactor 725 is closed. Thecurrent rate for reel motor 724 is limited by limiting the current ratereference signal with diodes 726 and 727 and by limiting the voltagefrom the rate limit reference 900. As a result, the current rate andcurrent are regulated in response to the motor current reference signalin a manner well established in the art.

Since a DC motor is capable of commutating higher current rate whenrunning at lower speeds, the voltage produced by the rate limitreference 900 is reduced at higher speeds in a manner well known in theart. A fixed bias to resistor 901 is summed with the reel speedreference signal by amplifier 903. Amplifier 903 provides rate limitreference voltage for one polarity through diodes 312 and 726; and arate limit reference voltage of opposite polarity is provided throughdiodes 313 and 727 by amplifier 905 to invert the polarity of amplifier903.

in practice, while a coil is being removed from a reel, the reel isstopped and contacts 109, 302, 306, 505 and 725 are open and contacts314 522 are closed. When the coil removal is completed, contacts 109 and725 close thus causing the reel to accelerate at. a rate deter- 9 r vmined by amplifier 110 to a speed synchronized with the product at aradius determined by rheostat resistor 318. A sensor (not shown) senseswhen the product arrives at the reel. When the product is sensed,contacts 314 and 522 open, and after a predetermined time delay contact302 closes. This time delay is to permit enough product to accumulate inthe reel before wobbling starts so there will not be slippage betweenthe coil and the reel. When contact 302 closes, the radius decreases, aspreviously described, and the reel accelerates.

Contact 505 closes a time delay after contact 302 closes to permit coilinertia compensation. When relay 408 detects the inner radius, asdetermined by rheostat resistor 410, contacts 302 and 505 open andcontact 306 closes causing the spiral constant to reverse at a ratedetermined by amplifier 307. The radius increases as previouslydescribed, and the reel decelerates. When relay 404 detects the outerradius, contact 306 opens and contact 302 closes again. This cyclerepeats continuously until the coil is completed. When the productsensor senses completion of the coil, the wobbling is interrupted,contacts 109 302, and 505 open, and contact 306 closes, the reeldecelerates at a rate determined by amplifier 110 and the radiusincreases. When relay 404 senses that the second r signal has returnedto the preset value, contact 306 opens, and the second r" signal is heldat its preset value and the reel continues to decelerate until it stops.A voltage relay (not shown) senses when the reel is stopped and causescontactor 725 to open and contacts 314 and 522 to close. Thus, the reelis returned to the original condition to permit coil removal, and theentire process repeats.

it has been shown that by providing a reel speed reference signal tocontrol a pouring reel, that a denser pouring will result.

While an embodiment and application of this invention has been shown anddescribed, it will be apparent to those skilled in the art that manymore modifications are possible without departing from the inventionconcept herein described. The invention, therefore, is not to berestricted except as is necessary by the prior art and by the spirit ofthe appended claims.

What is claimed as new and desired to be secured by Letters Patent ofthe United States is:

1. In apparatus for pouring a moving product into a reel, a controlsystem for controlling the reel angular motion to allow the depositionof the product in the reel in continuous layers, each layer forming acoil approximating an Archimedes spiral, with the spiral di- 10 rectionreversed on alternate layers, the control system comprising: y

a. means for continuously producing a first signal proportional to thelinear speed of the product;

b. means, including'means for establishing a spiral constant, forcontinuously producing a second signal proportional to the desired coilconvolute radius as a function of a reel speed reference signal and saidspiral constant;

c. reel speed reference means'for dividing said first signal by saidsecond signal thereby producing said reel speed reference signal at theoutput of said reel speed reference means; and,

d. means controlling the reel angular motion in response to said reelspeed reference signal.

2. A control system as in claim 1 wherein said means for producing asecond signal includes means for continuously calculating the desiredcoil convolute radius of the product. i

3. A control system as in claim 2 further including limiting means forlimiting the second derivative with respect to time of said secondsignal.

4. A control system as in claim 3 further including means fordetermining maximum and minimum allowable values for the secondderivative of said second signal as a function of said reel speedreference signal.

5. A control system as in claim 1 wherein the means for controlling thereel angular motion includes means for continuously calculating thedesired reel torque, comprising;

a. means for producing an inertia signal proportional to the inertia ofthe reel;

b. means responsive to said inertia signal and said reel speed referencesignal for producing a third signal proportional to the desired reeltorque; and,

c. means for continuously regulating the reel torque in-response to saidthird signal.

6. A control system as in claim 5 wherein said means for continuouslycalculating the desired reel torque includes means for differentiatingsaid reel speed reference signal thereby producing a fourth signal, andmeans for multiplying said fourth signal by said inertia signal therebyproducing said third] signal proportional to the desired reel torque.

7. A control system as in claim 6 including means for increasing saidinertia signal in proportion to the inertia increase of the reel as thesize of the coil in the reel increases.

1. In apparatus for pouring a moving product into a reel, a controlsystem for controlling the reel angular motion to allow the depositionof the product in the reel in continuous layers, each layer forming acoil approximating an Archimedes spiral, with the spiral directionreversed on alternate layers, the control system comprising: a. meansfor continuously producing a first signal proportional to the linearspeed of the product; b. means, including means for establishing aspiral constant, for continuously producing a second signal proportionalto the desired coil convolute radius as a function of a reel speedreference signal and said spiral constant; c. reel speed reference meansfor dividing said first signal by said second signal thereby producingsaid reel speed reference signal at the output of said reel speedreference means; and, d. means controlling the reel angular motion inresponse to said reel speed reference signal.
 2. A control system as inclaim 1 wherein said means for producing a second signal includes meansfor continuously calculating the desired coil convolute radius of theproduct.
 3. A control system as in claim 2 further including limitingmeans for limiting the second derivative with respect to time of saidsecond signal.
 4. A control system as in claim 3 further including meansfor determining maximum and minimum allowable values for the secondderivative of said second signal as a function of said reel speedreference signal.
 5. A control system as in claim 1 wherein the meansfor controlling the reel angular motion includes means for continuouslycalculating the desired reel torque, comprising; a. means for producingan inertia signal proportional to the inertia of the reel; b. meansresponsive to said inertia signal and said reel speed reference signalfor producing a third signal proportional to the desired reel torque;and, c. means for continuously regulating the reel torque in response tosaid third signal.
 6. A control system as in claim 5 wherein said meansfor continuously calculating the desired reel torque includes means fordifferentiating said reel speed reference signal thereby producing afourth signal, and means for multiplying said fourth signal by saidinertia signal thereby producing said third signal proportional to thedesired reel torque.
 7. A control system as in claim 6 including meansfor increasing said inertia signal in proportion to the inertia increaseof the reel as the size of the coil in the reel increases.